Robotic h matrix creation

ABSTRACT

Systems and methods of using a robot to train the system for motion detection are provided. A simple robot can be put in a room and programmed not to move except in accordance with specific programmed command. Such commands may be sent to the robot regarding movement(s) at a certain rate than could be seen in the response to a channel. A data set may be built over time, where the robot may be programmed to move such that the robot does change at specific times in duration and amount. Such robot motion may also be iterated. The algorithm records the impulse response changes associated with the robot changes and a database may be built based on such recorded and associated changes.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation and claims the prioritybenefit of U.S. patent application Ser. No. 16/794,668 filed Feb. 19,2020, now U.S. Pat. No. 11,586,952, which claims the priority benefit ofU.S. provisional patent No. 62/809,356 filed Feb. 22, 2019, and of U.S.provisional patent No. 62/809,393 filed on Feb. 22, 2019, thedisclosures of which are incorporated herein by reference in theirentirety.

BACKGROUND OF THE INVENTION 1. Field of the Invention

The present disclosure is generally related to using a robot and machinelearning to train a motion detection system. Specifically, using a robotto perform human motions repeatedly to teach a Wi-Fi motion detectionsystem to identify different human activities with in a targetenvironment.

2. Description of the Related Art

Motion detection is the process of detecting a change in the position ofan object relative to associated surroundings or a change in thesurroundings relative to an object. Motion detection is usually asoftware-based monitoring algorithm which. For example when motions aredetected, the surveillance camera may be signaled to begin capturing theevent. An advanced motion detection surveillance system can analyze thetype of motion to see if an alarm is warranted.

Wi-Fi location determination, also known as Wi-Fi localization or Wi-Filocation estimation refers to methods of translating observed Wi-Fisignal strengths into locations. A “radio map”, consisting of sets ofmetadata containing information about the frequency response of thechannel, and/or phase response of the channel, and/or impulse responseof the channel, and/or Received Signal Strength Indicators (RSSI),and/or any other statistic that describes the wireless communicationlink between paired devices is stored as a profile to be compared laterto a signal scan to recognize the location of the device doing thescanning.

There is therefore a need in the art for improved systems and methods ofrobotic matric creation.

SUMMARY OF THE CLAIMED INVENTION

Embodiments of the present invention provides for training a motiondetection system in which a robot can replicate movements repeatedly inthe exact same manner to provide a better model for frequency data formotion detection. A system for training a motion detection system isdisclosed that includes a training robot, a training module, acorrection module, a variation module, a training database, a profiledatabase, an execution module, a speed sensitivity module, and alocation sensitivity module. The training module sends pre-programmedmovements to the training robot to perform and monitors and stores thereceived signal generated in the impulse response data by the trainingrobot. The new training data is updated in the profile database.

Methods are provided for utilizing the context data from the internet ofthings (IoT) devices to augment the data provided by the agent, so thata larger library of profiles can be matched to known activities andlocations of those activities. The system provided improves a Wi-Fimotion detection system by using IoT device data. The system includes aWi-Fi motion detection system, an IoT device database, a cloud server,and an IoT device. The system collects location and activity data andassociates such data with data from the IoT devices.

BRIEF DESCRIPTIONS OF THE DRAWINGS

FIG. 1 illustrates an exemplary network environment in which a systemfor robotic training regarding Wi-Fi motion detection may beimplemented.

FIG. 2 illustrates an exemplary profile database.

FIG. 3 illustrates an exemplary training database.

FIG. 4 is a flowchart illustrating an exemplary method of robotictraining.

FIG. 5 is a flowchart illustrating an exemplary of training correction.

FIG. 6 is a flowchart illustrating an exemplary of detecting trainingvariation.

FIG. 7 is an illustration of an exemplary method of execution module,according to various embodiments.

FIG. 8 is a flowchart illustrating an exemplary of speed sensitivity.

FIG. 9 is a flowchart illustrating an exemplary of location sensitivity.

FIG. 10 illustrates an exemplary IoT device database.

FIG. 11 is a flowchart illustrating an exemplary method of IoT devicemanagement for Wi-Fi motion detection.

FIG. 12 is a flowchart illustrating an exemplary method of IoT deviceinstallation.

FIG. 13 is a flowchart illustrating an exemplary method of IoT locationtracking.

FIG. 14 is a flowchart illustrating an exemplary method of IoT activitytracking.

DETAILED DESCRIPTION

Systems and methods of using a robot to train the system for motiondetection are provided. A simple robot can be put in a room andprogrammed not to move except in accordance with specific programmedcommand. Such commands may be sent to the robot regarding movement(s) ata certain rate than could be seen in the response to a channel. A dataset may be built over time, where the robot may be programmed to movesuch that the robot does change at specific times in duration andamount. Such robot motion may also be iterated. The algorithm recordsthe impulse response changes associated with the robot changes and adatabase may be built based on such recorded and associated changes.

FIG. 1 illustrates an exemplary network environment in which a systemfor robotic training regarding Wi-Fi motion detection may beimplemented. Such network environment may include a wireless accesspoint 102, which may be a Wi-Fi access point. In an embodiment, thewireless access point 102 is an 802.11n access point. The wirelesstransceiver of the wireless access point 102 is in communication withthe further stationary device over a corresponding further one of the atleast one radio frequency communication link. The wireless access point102 is configured to record a further channel state information data setfor the further one of the at least one radio frequency communicationlink at a corresponding time. In an embodiment, determining the activityof the person in the environment includes determining the activity ofthe person in the environment based on a comparison of the furtherchannel state information data set to each of the at least one channelstate information profile of each of the plurality of activity profiles.In an embodiment, the activity is determined based on a sum of asimilarity measurement of the channel state information data set and asimilarity measurement of the further channel state information dataset.

A central processing unit (CPU) 104 is the electronic circuitry within acomputer that carries out the instructions of a computer program byperforming the basic arithmetic, logic, controlling and input/output(I/O) operations specified by the instructions. A graphics processingunit (GPU) 106 is a specialized electronic circuit designed to rapidlymanipulate and alter memory to accelerate the creation of images in aframe buffer intended for output to a display device. GPUs 106 are usedin embedded systems, mobile phones, personal computers, workstations,and game consoles. Modern GPUs 106 are very efficient at manipulatingcomputer graphics and image processing. The highly parallel structuremakes such processors more efficient than general-purpose CPUs 104 foralgorithms that process large blocks of data in parallel.

A digital signal processor (DSP) 108 is a specialized microprocessor (ora SIP block), with associated architecture optimized for the operationalneeds of digital signal processing. The DSP 108 may measure, filter orcompress continuous real-world analog signals.

An application program interface (API) 110 is a set of routines,protocols, and tools for building software applications. Basically, anAPI 110 specifies how software components could interact. Additionally,APIs 110 are used when programming graphical user interface (GUI)components. The API 110 may provide access to the channel state data tothe agent 114. A wireless access point 102 compliant with either 802.11bor 802.11g, using an omnidirectional antenna might have a range of 100 m(0.062 mi). The same radio 112 with an external semi parabolic antenna(15 dB gain) with a similarly equipped receiver at the far end mighthave a range over 20 miles.

An agent 114 may be a separate device or integrated module executable tocollect data from the Wi-Fi chipset of wireless access point 102, filterthe incoming data then feed, and pass such data to the cloud server120for activity identification. Depending on the configuration, theactivity identification can be done on the edge, at the level of theagent 114, or in the cloud server 120, or some combination of the two.

A local profile database 116 is utilized when at least a portion of theactivity identification is done on the edge. The activity identificationcould be a simple motion/no-motion determination profile, or a pluralityof profiles for identifying activities, objects, individuals,biometrics, etc.

An activity identification module 118 distinguishes between walkingactivities and in-place activities. In general, a walking activitycauses significant pattern changes of the impulse response amplitudeover time, since walking generally involves significant body movementsand location changes. In contrast, an in-place activity (such aswatching TV from a sofa) only involves relative smaller body movementsand may not cause significant amplitude changes, instead presentingcertain repetitive patterns within the impulse response measurements.

A cloud server 120 may analyze and create profiles describing variousactivities. As illustrated, the cloud server 120 may include a profileddatabase 122, device database 124, profile module 126, training database128, and training module 130 (which may further include correctionmodule 132 and variation module 134).

The profile module 126 monitors the data set resulting from continuouslymonitoring a target environment so as to identify multiple similarinstances of an activity without a matching profile in such a data set,to combine that data with user feedback, to label the resultingclusters, and to define new profiles that are then added to the profiledatabase122.

A profile database 122 may be utilized when at least a portion of theactivity identification is done in the cloud server 120 or when aprofile is sent to cloud server 120 for storage. The activityidentification could be a simple motion/no-motion determination profile,or a plurality of profiles for identifying activities, objects,individuals, biometrics, etc. A device database 124 may store the deviceID of all connected wireless access points 102. In some embodiments, oneor more of the devices may be IoT devices (e.g., IoT device database ofFIG. 10 ).

A profile module 126 monitors the data set resulting from continuousmonitoring of a target environment to identify multiple similarinstances of an activity without a matching profile in such a data set,to combine such data with user feedback, to label the resultingclusters, and to define new profiles that are then added to the profiledatabase122.

A training database 128 may store programming for a training robot 136,and the stored programming may include executable commands eachrepresenting different human actions. These stored programs orexecutable commands are sent to a training robot 136 to make thetraining robot 136 perform certain actions. For example, the trainingdatabase 128 may store programming or executable commands for a trainingrobot 136 to “walk slowly” or “jump in one place”. The training database128 could store the actual code or programming required to control themovements of the training robot 136, thereby limiting the need forprogram or code to be stored on the training robot 136. Alternatively,the training database 128 may store just a command to execute a programstored on the memory of the training robot 136. Furthermore, thetraining database 128 also stores the signal data that is monitoredduring the test, including the speed sensitivity data and locationsensitivity data.

A training module 130 may select an action from the training database128 and send the selected programming to the training robot 136. Thetraining robot 136 may then perform the programmed response. Thetraining module 130 then monitors the signal of the target environmentof the training robot 136. The monitored signal data is then compared toprofile database 122 to see if there is a similar monitored signal datastored in the profile database 122 and determines if the action by thetraining robot 136 matches the action associated with data in theprofile database 122 based on the comparison. If the monitored data andaction do not match, the correction module 132 is initiated and the newdata and action are added to the profile database 122. For example, thetraining module 130 selects the first program from the training database128, which makes the training robot 136 “walk” at a predeterminedstandard pace. As the training robot 136 is performing the programmedmotions the signal data is monitored and then compared to the profiledatabase 122 to see if there is a matching “walking” action. If there isno “walking” action in the profile database 122, a “walking” action maybe added. If there is a match, the new data is added to the profiledatabase 122 to update the “walking” profile with the new signal data.

A correction module 132 is initiated when there is no matching actionthat was performed by the training robot 136 in the profile database 122but there is matching signal data. For example, a training robot 136performs a predefined walking function, and that signal data iscaptured, but there is no matching “walking” action in the profiledatabase 122 while the new signal data matches the action “jumping” inthe profile database 122. To prevent duplicate signals, the “walking”action and associated signal data are added to the profile database 122;and the correction module 132 performs, captures, and update the signaldata for a “jumping” action.

A variation module 134 is executed by the training module 130 andre-runs the exact same training program. The variation module 134evaluates the difference between the first training run by the trainingmodule 130 and the second identical training run by the variation module134 to identify and train the system on any possible variations in thefrequency response data.

A training robot 136 is designed to mimic the human body and humanmovements. The training robot 136 receives a programmed commands fromthe training module 130. The program tells the training robot 136 tomake a series of movements to mimics human motions. Unlike a human, thetraining robot 136 can perform a task repeatedly the exact same way toget a better data set. Alternatively, the training robot 136 could beprogrammed to make slight alterations to robotic movement to create amore human type movement. A memory 138 stores software and program codethat controls the training robot 136. The memory 138 may store all ofthe programming required for controlling the training robot 136 or canstore programming sent from a remote user or the training module 130. Anantenna 140 for receiving commands and data from a remote user ordirectly from the training module 130.

An execution module 142 receives the program from the training module130 or correction module 132, as well as executes the receive program.The execution module 142 is stored on the memory 138 of the trainingrobot 136. The execution module 142 further sends a signal to thetraining module 130 or correction module 132 upon completion of programexecution. A speed sensitivity module 144 is called by the executionmodule 142 to vary the speed of the training robot 136 (e.g., movingfrom slow to fast) to determine when the monitored Wi-Fi signal changesfrom a predefined speed of movement. As such, the system can test andeliminate speed sensitivity.

Furthermore, the speed sensitivity module 144 can be stored andexecuted, either from the training robot 136 or from the cloud server120. A location sensitivity module 146 may be called by the executionmodule 142, and the location of the training robot 136 may be varied asthe programmed movement is performed. Specifically, the speedsensitivity module 144 could move the training robot 136 away from andtowards the wireless access point 102. Such movement may allow fordetermination of when the monitored signal changes. As such, the systemcan test and eliminate location sensitivity. Furthermore, the locationsensitivity module 146 can be stored and executed, either from thetraining robot 136 or from the cloud server 120.

FIG. 2 illustrates an exemplary profile database (e.g., profile database122). One skilled in the art may appreciate that for this and otherprocesses and methods disclosed herein, the functions performed in theprocesses and methods may be implemented in differing order.Furthermore, the outlined steps and operations are only provided asexamples, and some of the steps and operations may be optional, combinedinto fewer steps and operations, or expanded into additional steps andoperations without detracting from the essence of the disclosedembodiments.

The profile database 122 is utilized when at least a portion of theactivity identification is done in the cloud server 120. This could be asimple motion/no-motion determination profile, or a plurality ofprofiles for identifying activities, objects, individuals, biometrics,etc. For example, the profile database 122 may store a profile programnumber 200 and a profile action name 202 that describes the activity oraction of that is represented by the frequency response data.Additionally, the profile database 122 may store the frequency responsedata that is associated with the action as the profile signal data 204.Profile database 122 may further store speed sensitivity profile dataand location sensitivity profile data.

FIG. 3 illustrates an exemplary training database (e.g., trainingdatabase 128). The training database 128 is utilized to storeprogramming for a training robot 136 and the monitored frequencyresponse data. The training database 128 stores software code or anexecution command that represents different actions that can be sent thetraining robot 136. These actions represent human movements. Thetraining database 128 further stores the name of the action or movementperformed (e.g., wave hand, Jump, kick leg out, etc.), the executioncommand or program code, and the frequency response data for threedifferent tests, normal test, speed sensitivity test, and locationstest. As illustrated, training database 128 may store data regardingtraining program number, training action name, training program orexecution code, normal training data, speed sensitivity training data,location sensitivity training data, normal variation data, speedvariation data, and location variation data.

FIG. 4 is a flowchart illustrating an exemplary method of robotictraining. The process begins with initiation of the training module 130(e.g., based on user input received via a user interface of a userdevice) in step 400. The user interface could be associated with aremote terminal or a mobile device. Once the training module 130 isinitiated, a training program is selected from the training database128. If this is the first time or part of the initial run of theprogram, “n” may equal 1 (n=1) where n represents the training programnumber in the training database 128.

The training program in the training database 128 is selected at step402. The selected training program is sent to the execution module 142on the training robot 136. For example, if this the first time theprogram is running and the first program in the training database 128 isselected, such selection may be “wavehand.exe” at step 404. The trainingmodule 130 then begins monitoring the frequency response signal data atthe target environment where the training robot 136 is located.

The frequency response data is only monitored while the training robot136 performs the training program at step 406. While monitoringfrequency response data, the training module 130 waits for a commandfrom the training robot 136 that a “normal” program has been completed.The command tells the training module 130 to stop monitoring thefrequency responses data. For example, the training program formimicking waving a hand (e.g., “wave hand”) is sent to the trainingrobot 136. The training module 130 could then immediately begin tomonitor the frequency response data until the “completed normal program”command is received.

The monitored data could now represent the motion of waving a hand atstep 408. The training module 130 then stores the monitored frequencyresponse data in to the training database 128 with the program that wasoriginally selected in step 410. For example, the frequency responsedata that was monitored from the time the training program was executedto receiving the “completed normal program” command from the trainingrobot 136 may be stored in the training database 128 with the “wavehand” training program. The “wave hand” training program could now havefrequency response data stored in the training database 128 under thenormal training signal data at step 410. The training module 130 thenbegins monitoring the frequency response signal data again at the targetenvironment where the training robot 136 is located. The frequencyresponse data may only be monitored while the training robot 136performs the training program that was sent.

One aspect of monitoring the signal data again is associated with thetraining robot 136 performing the program but at different speeds atstep 412. While monitoring frequency response data, the training module130 waits for a command from the training robot 136 that a “speedsensitivity” program has been completed.

The command tells the training module 130 to stop monitoring thefrequency responses data at step 414. The training module 130 thenstores the monitored frequency response data in to the training database128 with the program that was originally selected. For example, thefrequency response data that was monitored between the time the trainingprogram was executed and the time that the “completed speed sensitivityprogram” command was received from the training robot 136 is stored inthe training database 128 with the “wave hand” training program.

The “wave hand” training program could now have frequency response datastored in the training database 128 under the speed sensitivity trainingdata at step 416. The training module 130 may then begin monitoring thefrequency response signal data again at the target environment where thetraining robot 136 is located. The frequency response data is onlymonitored while the training robot 136 performs the training programthat was sent.

One aspect of monitoring the signal data includes the training robot 136performing the program but at different distances from the access point102 at step 418. While monitoring frequency response data, the trainingmodule 130 waits for a command from the training robot 136 that a“location sensitivity” program has been completed. The command tells thetraining module 130 to stop monitoring the frequency responses data atstep 420. The training module 130 then stores the monitored frequencyresponse data in to the training database 128 with the program that wasoriginally selected. For example, the frequency response data that wasmonitored between the time the training program was executed and thetime the “completed location sensitivity program” command was receivedfrom the training robot 136 is stored in the training database 128 withthe “wave hand” training program.

The “wave hand” training program could now have frequency response datastored in the training database 128 under the location sensitivitytraining data at step 422. The variation module 134 is then executed.The variations module 134 is executed at the end of the training module130 and before the training module 130 moves on to the next trainingprogram. The variation module 134 re-runs the same test program as thetraining module 130, monitors the data during the identical test andthen compares the frequency response data from training module 130 tothe frequency response data collected while running the variation module134.

The training module 130 then updates variations in the two data sets andupdates the training database 128 at step 424. The number of thetraining program “n” is sent to the variation database regarding whichtraining program to run at step 426. The training module 130 thencompares the training action name from the training database 128 withthe profile action names 202 in the profile database 122. The actionnames are compared to see if there is already a similar action in theprofile database 122. For example, the training module 130 could comparethe action name “wave hand”, which was the training program that wasexecuted, to see if there was a matching action in the profile database122 at step 428.

The training module 130 then checks to see if the selected trainingaction name matches any profile action names (e.g., “wave hand”) at step430. If the training action name and profile action name 202 match, thetraining module 130 updates the profile signal data 204 with thetraining signal data in the profile database 122. For example, if thereis already a “wave hand” action in the profile database 122 the newsignal data collected during the training program is added to the “wavehand” profile in the profile database 122at step 432. If there is nomatch of the training action name and the profile action names, thetraining module 130 then compares the stored training signal data withthe profile signal data 204 to see if there is similar signal data witha different action name in the profile database 122. One considerationis to make sure that there are not any duplicates of the signal data inthe profile database 122 for the same action even if the action names donot match.

For example, if there is no “wave hand” in the profile database 122 thensignal data that was monitored during the training program is comparedto all of the signal data in the profile database 122 at step 434. Ifthe training signal data does not have any match with any of the profilesignal data 204 and the action names do not match, a new action name isadded to the profile database 122 using the data from the trainingdatabase 128 at step 436. Once the profile database 122 is updated ornew data added, the training module 130 selects the next program in thetraining database 128 (n+1) is selected until there are no more programsto run from the training database 128 at step 438. If there is no matchof the profile action names 202 but there is a signal match as describedat step 418, the system adds the data from the training database 128 tothe profile database 122 to create a new action (e.g., wave hand) atstep 440.

The training module 130 then selects the profile action name 202 wherethe training signal data matched the profile signal data 204 at step442. The profile action name 202 that was selected is then sent to thecorrection module 132 and the corrections module is executed at step444. The correction module 132 runs and correct signal data in theprofile database 122 that matched a training signal data. For example,if the “wave hand” training signal data matches a profile signal data204 for “kick out leg” then the correction module 132 could find thecorresponding training program in the training database 128, run thetraining program for “kick out leg” with the training robot 136, monitorthe new signal and update the “kick out leg” with the new signal data.One aspect is to eliminate any duplicate signal data at step 446. Oncethe correction module 132 completes a task, the correction module 132sends the corrected signal and action data back, and such data isupdated in the profile database 122 at step 448.

FIG. 5 is a flowchart illustrating an exemplary of training correction.The process begins with the correction module 132 receiving from thetraining module 130 the profile action name 202 from the profiledatabase 122 where the training and profile signals matched at step 500.The correction module 132 compares the received profile action name 202with the training database 128 to find the matching training actionname. For example, if the training data for “Wave hand” matches theprofile data for “kick out leg” the correction module 132 could look forthe same training action name (“kick out leg”) in the training database128 at step 502. The training program is selected from the trainingdatabase 128 (e.g., “Kick leg out”) at step 504.

The selected training program is sent to the execution module 142 on thetraining robot 136. For example, the program could send the“kickoutleg.exe” training program for execution at step 506. Thefrequency response data from the Wi-Fi signal from the environment whichthe training robot 136 is placed is monitored while the training robot136 executes the program at step 508. The correction module 132 stopsmonitoring the frequency response data once a message is received fromthe training robot 136 that the program is complete at step 510. Thecorrection module 132 then stores the monitored signal data in to thetraining database 128 with the program that was originally selected. Inthis example, the signal data is stored with the “kick out leg” programat step 512. The variation module 134 is then executed at the end of thetraining module 130 and before the training module 130 moves on to thenext training program. The variation module 134 re-runs the same testprogram as the training module 130, monitors the data during theidentical test, and then compares the frequency response data fromtraining module 130 to the frequency response data collected whilerunning the variation module 134.

The correction module 132 then updates variations in the two data setsand updates the training database 128 at step 514. The number of thetraining program “n” is sent to the variation database regarding whichtraining program to run at step 516. The stored training data is thensent to back to the training module 130 to be used to update the profiledatabase 122 at step 518. The correction module 132 ends and returns tothe training module 130 at step 520.

FIG. 6 is a flowchart illustrating an exemplary of detecting trainingvariation. In step 600, the process begins with execution of thevariation module 134 to receive from the training module 130 thetraining program that is has just run. The variation module 134 thensends that training program to the training robot 136 at step 602. Thevariation module 134 begins to monitor the impulse response of thechannel, while the training robot 136 is performing the training programat step 604. The variation module 134 stops monitoring the signal whenthe command is received indicating that the training robot 136 hascompleted the normal run of the training program at step 606.

The monitored data is then stored in the training database 128 as normalvariation data at step 608. The variation module 134 then beginsmonitoring the impulse response of the channel again as the trainingrobot 136 performs the training program at different speeds at step 610.The variation module 134 stops monitoring the signal when the command isreceived indicating that the training robot 136 has completed the speedsensitivity test of the training program at step 612. The monitored datais then stored in the training database 128 as speed variation data atstep 614. The variation module 134 then begins monitoring the impulseresponse of the channel again as the training robot 136 performs thetraining program at different distances from the wireless access point102 at step 616.

The variation module 134 stops monitoring the signal when the command isreceived indicating that the training robot 136 has completed thelocation sensitivity test of the training program at step 618. Themonitored data is then stored in the training database 128 as locationvariation data at step 620. The stored training data is then compared tothe variation data of the same training program. In step 622, the normaltraining data is compared to the normal variation data, as well as thespeed and location sensitivity data. As the data is compared, thevariation module 132 checks for major variations in the data.

Small changes in amplitude on the same slope may be ignored, butfundamental changes in the shape of the H matrix could be considered ananomaly and removed from the signal data at step 624. Any variations oranomalies found in the data may be removed at step 626. The “variationfree” data is then stored back in the training database 128 in therespective training columns at step 628. Once the data is stored in thetraining database 128, the correction module 132 ends execution andreturns to the training module 130 at step 630.

FIG. 7 is an illustration of an exemplary method of execution module142, according to various embodiments. In step 700, the process beginswith execution of the training robot 136 to receive from the trainingmodule 130 a program or command. The training robot 136 then executesthe program or command from memory 138. In some cases, the instructionsfor controlling the training robot 136 may be sent to the training robot136. Some embodiments allow for the code that controls the trainingrobot 136 to be stored in memory 138 and executed at step 702. Once thetraining robot 136 had completed, the program, a signal is sent back tothe training module 130 regarding a completion of the program at step704.

The execution module 142 then executes the speed sensitivity module 144,which runs the training program at different speeds, first running theprogram at double or triple the defined normal speed and then at eithertwo or three times slower than normal at step 706. Once the trainingrobot 136 had completed the program normally, a signal is sent back tothe training module 130 regarding a normal completion of the program atstep 708. The execution module 142 then executes the locationsensitivity module 146, which runs the training program at different atdifferent distances from the wireless access point 102 at step 710. Oncethe training robot 136 had completed, the program, signal may be sentback to the training module 130 regarding completion of the program atstep 712. The program may end at step 714.

FIG. 8 is a flowchart illustrating an exemplary of speed sensitivity.The process begins with the speed sensitivity module 144—which may beinitiated by the execution module 142. The speed sensitivity module 144may start to re-run the training program that the execution module 142had just run at step 800. In step 802, the speed sensitivity module 144then speeds up the robotic movements by a factor of “x”. For example,the speed sensitivity module 144 may speed up the robotic motion by x=5which could increase the robotic movements to five times faster than thedefined normal speed.

The speed sensitivity module 144 then completes the training program atstep 804. The training is then re-run again at step 806. In step 808,the speed sensitivity module 144 then slows down the robotic movementsby a factor of “x”. For example, the speed sensitivity module 144 mayslow down the robotic motion by x=5, which could decrease the speed ofthe robotic movements to five times slower than the defined normalspeed. The speed sensitivity module 144 then completes the trainingprogram at step 810. The program ends and returns to the executionmodule 142 at step 812.

FIG. 9 is a flowchart illustrating an exemplary of location sensitivity.The process begins with the location sensitivity module 146 beinginitiated by the execution module 142 at step 900. The locationsensitivity module 146 may then determine where the wireless accesspoint 102 is located. One aspect of the location sensitivity module 146allows the training robot 136 can be moved either closer or further wayfrom the access point 102 at step 902. After determining the directionand/or location of the wireless access point 102 the training robot 136is moved closer to the access point 102. The location sensitivity module146 may monitor the signal strength of the wireless access point 102 asan indicator of how close the training robot 136 is to the access point102 at step 904.

The training program that was initially run by the execution module 142is now re-run, but with the training robot 136 closer to the wirelessaccess point 102 at step 906. The training program may run and becompleted at a location near to the wireless access point 102 at step908. Once the program is completed, the training robot 136 then moves adistance away from the wireless access point 102. In one embodiment,training robot 136 may continue to move farther away from the wirelessaccess point 102 by monitoring the signal strength at step 910. Thetraining program is then re-run again but this time with the trainingrobot 136 at a distance from the wireless access point 102 at step 912.The training is program is then run and completed at a distance from thewireless access point 102 at step 914. The location sensitivity module146 then ends and returns to the execution module 142 at step 916.

In an embodiment, an IoT device may be used to improve accuracy ofpassive Wi-Fi based motion detection systems. An IoT device database ofFIG. 10 stores information related to each IoT device connected to thewireless access point 102. That information includes, but not limitedto, the location information, the function of the device, and theactivity associated with operating the device, all of which is providedeither by the IoT device database of FIG. 10 or by a user. The IoTdevice database of FIG. 10 could also include sensor data feed columnsfor devices with additional capabilities, such as a virtual assistant,that could provide additional context data to further refine the profileassociated with the activity.

The cloud server 120 may monitor that activity of the wireless accesspoint 102 via the agent 114, as well as the activities of the IoTdevices connected to the wireless access point 102 in order to triggerthe installation module when new IoT devices are connected, and thelocation modules and activity modules when data events are detectedsimultaneously in both the activity identification module 118 and an IoTdevice. An installation module may connect new IoT devices to the systemand register in the IoT device database of FIG. 10 information relatedto the location of the device the function of the device, and theactivity associated with the function of the IoT device. Thesedefinitions are provided either by the IoT device (e.g., if the IoTdevice has that level of sensor and computational capabilities) orthrough definition by a user through a training interface. A locationmodule may compare the location associated with the impulse or frequencyresponse of the channel (e.g., in the profile database 122 identified bythe activity identification module 118) to the location associated withthe data event from the IoT device. When the two locations do not match,the data provided by the IoT device is sent to the profile module 126 tobe used to improve the profile definitions in the profile database 122.An activity module may compare the activity associated with the impulseor frequency response of the channel in the profile database 122identified by the activity identification module 118, to the activityassociated with the data event from the IoT device. When the twoactivities do not match, the data provided by the IoT device is send tothe profile module 126 to be used to improve the profile definitions inthe profile database 122. At least one IoT device, or a group of up to nnumber of IoT devices. Consumer connected devices including smart TVs,smart speakers, toys, wearables and smart appliances, smart meters,commercial security systems and smart city technologies, such as thoseused to monitor traffic and weather conditions, are examples ofindustrial and enterprise IoT devices, that could all be incorporatedinto this system in various embodiments.

FIG. 10 illustrates an exemplary IoT device database. The IoT devicedatabase of FIG. 10 contains information related to each IoT deviceassociated with each IoT device 138 connected to the system. Thatinformation includes, but not limited to; the location information, thefunction of the device, and the activity associated with operating thedevice, all of which is provided either by the IoT device or by a user.The IoT device database of FIG. 10 could also include sensor data feedcolumns for devices with additional capabilities, such as a virtualassistant, that could provide additional context data to further refinethe profile associated with the activity.

FIG. 11 is a flowchart illustrating an exemplary method of IoT devicemanagement for Wi-Fi motion detection. Such method may be performed bycloud server 120. The process begins with data being received via theagent 114 from the wireless access point 102 at step 1100. The IoTdatabase 128 may be queried for the presence of a new IoT device beingadded to the home network at step 1102. It may be determined if a newIoT device 138 is present at step 1104. If a new IoT device is detectedin the IoT device database of FIG. 10 , the installation module may belaunched at step 1106.

The activity identification module 118 may be polled for new motion dataat step 1108. It may be determined if the activity identification module118 has identified a motion at step 1110. If there is motion identified,the IoT devices in the IoT device database of FIG. 10 may be polled fornew data event(s) at step 1112. It may be determined if there are anyIoT device that coincides with the motion data at step 1114. If there isboth motion and IoT data, a call to the location module may determine ifthe location identified by the activity identification module 118 is inagreement with the location data from the IoT device at step 1116.

Once the location module has completed, a call to the activity modulemay determine if the activity identified by the activity identificationmodule 118 is in agreement with the activity data from the IoT device atstep 1118. It may be determined if data is still being received from thewireless access point 102, via the agent 114 at step 1120. If data isstill coming in from the agent 114, the method may return to step 1102.If the data is no longer coming from the agent 114, the method may go tostep 1122.

FIG. 12 is a flowchart illustrating an exemplary method of IoT deviceinstallation. Such method may be performed based on execution of aninstallation module. The process begins with receipt of a prompt fromthe cloud server 120 at step 1200. The new IoT device added to the IoTdevice database of FIG. 10 may be characterized by such parameters asmake, model, capabilities, etc., at step 1202. It may be determined ifthe IoT device provides data about the associated location, and the dataprovided to the IoT device database of FIG. 10 may be written to the IoTdevice database of FIG. 10 at step 1204. If the device does not providedata about location, the user device may prompt a user to input thelocation of the new device (e.g., identifying that a specified lightswitch is in the bathroom) at step 1206.

The user-provided location of the new device may be written to the IoTdevice database of FIG. 10 at step 1208. It may be determine if thedevice provides data about associated function, and write the dataprovided to the IoT device database of FIG. 10 at step 1210. If thedevice does not provide data about associated function, the user devicemay be prompted for input regarding the function of the new device(e.g., identifying that a specified light switch in the bathroomoperates the bathroom lights) at step 1212. The user-provided functionof the new device may be written to the IoT device database of FIG. 10at step 1214. A prompt may be provided to obtain user input defining theactivity, such as activating the light switch. The process for definingthis activity in this embodiment may allow the user to provide a naturallanguage definition of the activity. In alternate embodiments, the usercould perform the activity in response to a prompt or query from thesystem, allowing the activity identification module 118 to take a sampleof the impulse or frequency response of the channel to the activitybeing defined as linked to the IoT device at step 1216. Theuser-provided activity of the new device may be written to the IoTdevice database of FIG. 10 at step 1218. The method may return to thecloud server 120 at step 1220.

FIG. 13 is a flowchart illustrating an exemplary method of IoT locationtracking. The method may be performed based on execution of a locationmodule. The process begins with receiving a prompt from the cloud server120 that there is IoT data that coincides with motion data from theactivity identification module 118 at step 1300. The location of the IoTdevice from the IoT device database of FIG. 10 may be identified at step1302.

It may be determine if the location of the IoT device matches thelocation of the motion identified by the activity identification module118. If the location matches, the method may return to the cloud server120 at step 1304. If the location identified by the activityidentification module 118 does not match the location of the IoT device,the location of the IoT device is sent to the profile module 126 toupdate the profile database 122. In the future when the activityidentification module 118 sees the current profile in the impulse orfrequency response of the channel, activity identification module 118may recognize such activity as taking place in the location defined bythe IoT device at step 1306. The method 600 may further return to thecloud server 120 at step 1308.

FIG. 14 is a flowchart illustrating an exemplary method of IoT activitytracking. Such method may be performed based on execution of an activitymodule. The process begins with receiving a prompt from the cloud server120 that there is IoT data that coincides with motion data from theactivity identification module 118 at step 1400.

The activity associated with the IoT device from the IoT device databaseof FIG. 10 may be identified at step 1402. It may be determine if theactivity associated with the IoT device matches the activity associatedthe profile of the frequency response of the channel identified by theactivity identification module 118. If the activity matches, the methodmay return to the cloud server 120 at step 1404. If the activityidentified by the activity identification module 118 does not match theactivity associated with the IoT device, the activity associated withthe IoT device is sent to the profile module 126 to update the profiledatabase 122. In the future when the activity identification module 118sees the current profile in the impulse or frequency response of thechannel, activity identification module 118 may recognize such data ascorresponding to the activity defined by the IoT device at step 1406.The method may return to the cloud server 120 at step 1408.

The present invention may be implemented in an application that may beoperable using a variety of devices. Non-transitory computer-readablestorage media refer to any medium or media that participate in providinginstructions to a central processing unit (CPU) for execution. Suchmedia can take many forms, including, but not limited to, non-volatileand volatile media such as optical or magnetic disks and dynamic memory,respectively. Common forms of non-transitory computer-readable mediainclude, for example, a floppy disk, a flexible disk, a hard disk,magnetic tape, any other magnetic medium, a CD-ROM disk, digital videodisk (DVD), any other optical medium, RAM, PROM, EPROM, a FLASHEPROM,and any other memory chip or cartridge.

Various forms of transmission media may be involved in carrying one ormore sequences of one or more instructions to a CPU for execution. A buscarries the data to system RAM, from which a CPU retrieves and executesthe instructions. The instructions received by system RAM can optionallybe stored on a fixed disk either before or after execution by a CPU.Various forms of storage may likewise be implemented as well as thenecessary network interfaces and network topologies to implement thesame.

The foregoing detailed description of the technology has been presentedfor purposes of illustration and description. It is not intended to beexhaustive or to limit the technology to the precise form disclosed.Many modifications and variations are possible in light of the aboveteaching. The described embodiments were chosen in order to best explainthe principles of the technology, its practical application, and toenable others skilled in the art to utilize the technology in variousembodiments and with various modifications as are suited to theparticular use contemplated. It is intended that the scope of thetechnology be defined by the claim.

What is claimed is:
 1. A system for training a motion detection system,the system comprising: a wireless access point located within amonitored space; an agent device that collects frequency response signaldata from the wireless access point regarding the monitored space; acloud server that generates a robot command corresponding to a humanactivity; and a robot that receives the command sent by the cloud serverover a communication network and executes the received command toperform an action mimicking the corresponding human activity by movingto a location a specified distance from the wireless access point. 2.The system of claim 1, wherein the cloud server further monitors a setof frequency response signal data associated with the action performedby the robot based on radio signal strength of the wireless accesspoint.
 3. The system of claim 2, further comprising a profile databasethat stores a plurality of sets of frequency response data eachcorresponding to different human activities, wherein the profiledatabase is updated based on the monitored set of frequency responsesignal data associated with the action performed by the robot.
 4. Thesystem of claim 3, wherein the cloud server further executes acorrection module to add a new profile to the profile database whensubsequently collected frequency response signal data does not match anyof the stored sets of frequency response data.
 5. The system of claim 1,wherein the cloud server further receives subsequently collectedfrequency response signal data sent by the agent device over thecommunication network and identifies the human activity in the monitoredspace based on matching the monitored set frequency response data to thesubsequently collected set of frequency response data.
 6. The system ofclaim 1, wherein the cloud server generates the robot command byexecuting a speed sensitivity module to send signals to the robotindicating one or more varied speeds for the action; and wherein thecloud server further measures a speed sensitivity of the robot at eachof the varied speeds by determining that each of the varied speedscorresponds to a different set of collected frequency response signaldata.
 7. The system of claim 1, wherein the cloud server generates therobot command by executing a location sensitivity module to send signalsto the robot indicating one or more varied distances of the robot fromthe wireless access point; and wherein the cloud server further measuresa location sensitivity of the robot at each of the varied distances bydetermining that each of the varied distances corresponds to a differentset of collected frequency response signal data.
 8. The system of claim1, wherein the cloud server executes a variation module to repeat atraining program and identify anomalous data associated with therepeated training program in comparison to stored data in a trainingdatabase regarding one or more other human activities.
 9. The system ofclaim 8, wherein the cloud server further executes the variation moduleto remove the anomalous data from the training database.
 10. The systemof claim 1, wherein the wireless access point is in communication withan Internet-of-Things (IoT) device, wherein a frequency response fromthe IoT device is associated with a location stored in a profiledatabase.
 11. A method for training a motion detection system, themethod comprising: receiving frequency response signal data regardingthe monitored space, the frequency response signal data collected by anagent device from a wireless access point in the monitored space;generating a robot command corresponding to a human activity, whereinthe robot command is generated by a cloud server; and sending thecommand from the cloud server over a communication network to a robot,wherein the robot executes the received command to perform an actionmimicking the corresponding human activity by moving to a location aspecified distance from the wireless access point.
 12. The method ofclaim 11, further comprising monitoring a set of frequency responsesignal data associated with the action performed by the robot based onradio signal strength of the wireless access point.
 13. The method ofclaim 12, further comprising storing a plurality of sets of frequencyresponse data in a profile database, each set of frequency response datacorresponding to different human activities, and updating the profiledatabase based on the monitored set of frequency response signal dataassociated with the action performed by the robot.
 14. The method ofclaim 13, further comprising executing a correction module to add a newprofile to the profile database when subsequently collected frequencyresponse signal data does not match any of the stored sets of frequencyresponse data.
 15. The method of claim 11, further comprising receivingsubsequently collected frequency response signal data sent by the agentdevice over the communication network, and identifying the humanactivity in the monitored space based on matching the monitored setfrequency response data to the subsequently collected set of frequencyresponse data.
 16. The method of claim 11, wherein generating the robotcommand includes executing a speed sensitivity module to send signals tothe robot indicating one or more varied speeds for the action; andfurther comprising measuring a speed sensitivity of the robot at each ofthe varied speeds, wherein each of the varied speeds is determined tocorrespond to a different set of collected frequency response signaldata.
 17. The method of claim 11, wherein generating the robot commandincludes executing a location sensitivity module to send signals to therobot indicating one or more varied distances of the robot from thewireless access point, and further comprising measuring a locationsensitivity of the robot at each of the varied distances, wherein eachof the varied distances is determined to correspond to a different setof collected frequency response signal data.
 18. The method of claim 11,further comprising executing a variation module to repeat a trainingprogram and identify anomalous data associated with the repeatedtraining program in comparison to stored data in a training databaseregarding one or more other human activities.
 19. The method of claim18, further executing the variation module to remove the anomalous datafrom the training database.
 20. The method of claim 11, wherein thewireless access point is in communication with an Internet-of-Things(IoT) device, wherein a frequency response from the IoT device isassociated with a location stored in a profile database.
 21. Anon-transitory, computer-readable storage medium, having embodiedthereon a program executable by a processor to perform a method fortraining a motion detection system, the method comprising: receivingfrequency response signal data regarding the monitored space, thefrequency response signal data collected by an agent device from awireless access point in the monitored space; generating a robot commandcorresponding to a human activity, wherein the robot command isgenerated by a cloud server; and sending the command from the cloudserver over a communication network to a robot, wherein the robotexecutes the received command to perform an action mimicking thecorresponding human activity by moving to a location a specifieddistance from the wireless access point.